diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_slow_down.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_slow_down.param.yaml
index f826e4ccd6..faa5cd8c50 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_slow_down.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_slow_down.param.yaml
@@ -42,6 +42,14 @@
           pedestrian: true
           pointcloud: false
 
+        pointcloud:
+          pointcloud_voxel_grid_x: 0.05
+          pointcloud_voxel_grid_y: 0.05
+          pointcloud_voxel_grid_z: 100000.0
+          pointcloud_cluster_tolerance: 1.0
+          pointcloud_min_cluster_size: 1
+          pointcloud_max_cluster_size: 100000
+
         min_lat_margin: 0.0  # lateral margin between obstacle and trajectory band with ego's width to avoid the conflict with the obstacle_stop
         max_lat_margin: 1.1  # lateral margin between obstacle and trajectory band with ego's width
         lat_hysteresis_margin: 0.2
diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_stop.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_stop.param.yaml
index 21dbf5f5bc..4203a94df4 100644
--- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_stop.param.yaml
+++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_stop.param.yaml
@@ -54,6 +54,14 @@
             bicycle: false
             pedestrian: false
 
+        pointcloud:
+          pointcloud_voxel_grid_x: 0.05
+          pointcloud_voxel_grid_y: 0.05
+          pointcloud_voxel_grid_z: 100000.0
+          pointcloud_cluster_tolerance: 1.0
+          pointcloud_min_cluster_size: 1
+          pointcloud_max_cluster_size: 100000
+
         # hysteresis for velocity
         obstacle_velocity_threshold_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]
         obstacle_velocity_threshold_from_stop : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s]